Best-Action Planning for Real-Time Response - An Approach in ORICA
نویسندگان
چکیده
A planner for real-time response aims at building a plan to safely guide the world to its goal state by guaranteeing response deadlines. Ideally, it should find the paths most suitable for guaranteeing real-time behaviour and goal achievement. To achieve this ideal behaviour, it must possess maximum information about the world behaviour and be able to plan the responses of the system under-control to its advantage. It should be able to reason about one path with respect to the other, based on the execution duration, the amount of resources used and the system safety. In this paper, we present the ORICA (OSIRIS real-time intelligent control architecture) real-time response planner, which builds plans that permit the real-time system to strive to achieve its goal in un-guaranteed environment behaviour, while still ensuring system safety. It does heuristic reasoning for comparison of different paths when a choice of path is possible.
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